2004 Toyota Highlander Electronic Stability Control Problems

ON 3/17/05 I DROVE MY TOYOTA 2004 HIGHLANDER, 2,025 MILEAGE, ONTO A MAIN STREET AT ABOUT 5 MPH. A BEEPING SOUNDED, THE SLIP INDICATOR LIGHT BLINKED SLIGHTLY, AND HORRIBLE CRUNCHING AND CLANGING SOUNDS OCCURED UNDERNEATH THE FRONT OF THE VEHICLE. IT FELT LIKE THE FRONT BRAKES LOCKED UP. I TRIED TO SLOWLY RESUME DRIVING SEVERAL TIMES, BUT THE CAR WAS INOPERABLE AND THE DEALER SENT A TOW TRUCK. THEY SAID IT WAS A PROBLEM WITHIN THE VEHICLE STABILITY CONTROL SYSTEM WHICH INTERACTS WITH THE YAW AND STEERING ANGLE SENSORS, AND THE BRAKE SYSTEM. THERE IS ALSO SUPPOSE TO BE A G-SENSOR ACCORDING TO TOYOTA'S WEB SITE GLOSSARY. (THE DEALER NEVER HEARD OF THE G-SENSOR). THEY SAID IT WAS A BAD STEERING ANGLE SENSOR AND HAD SEEN THIS PROBLEM SEVERAL TIMES. THE SENSOR WAS REPLACED AT THE DEALERSHIP AND SINCE I'VE ONLY DRIVEN IT A FEW MILES, I DON'T KNOW IF IT'S OKAY. WHAT IF THE REPLACEMENT SENSOR IS ALSO BAD? I OFTEN DRIVE IN THE MOUNTAINS ALONE, AND AM EXTREMELY WORRIED ABOUT IT. I AM RETIRED AND BOUGHT THE VEHICLE FOR SAFETY AND SECURITY, RELYING ON TOYOTA'S EXPERTISE, OR SO I THOUGHT! THE VSC SITUATION IS VERY SERIOUS AND SHOULD BE A RECALL ISSUE. I NOW WISH I HAD BOUGHT A HONDA PILOT. *AK